Prevent analytic expansions from shortcutting Smac Planner feasible p…

…aths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <[email protected]>
Marc-Morcos · Jul 4, 2024 · a64dfc2 · a64dfc2
1 parent 21cf5dc
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
@@ -73,7 +73,7 @@ class AnalyticExpansion
    * @brief Sets the collision checker and costmap to use in expansion validation
    * @param collision_checker Collision checker to use
    */
-  void setCollisionChecker(GridCollisionChecker * collision_checker);
+  void setCollisionChecker(GridCollisionChecker * & collision_checker);
 
   /**
    * @brief Attempt an analytic path completion

diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp
@@ -41,7 +41,7 @@ AnalyticExpansion<NodeT>::AnalyticExpansion(
 
 template<typename NodeT>
 void AnalyticExpansion<NodeT>::setCollisionChecker(
-  GridCollisionChecker * collision_checker)
+  GridCollisionChecker * & collision_checker)
 {
   _collision_checker = collision_checker;
 }